CN113246096A - Sorting manipulator based on adaptive cruise technology and control method thereof - Google Patents
Sorting manipulator based on adaptive cruise technology and control method thereof Download PDFInfo
- Publication number
- CN113246096A CN113246096A CN202110715732.9A CN202110715732A CN113246096A CN 113246096 A CN113246096 A CN 113246096A CN 202110715732 A CN202110715732 A CN 202110715732A CN 113246096 A CN113246096 A CN 113246096A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- ground rail
- position information
- moving
- sorting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a sorting manipulator based on an adaptive cruise technology and a control method thereof, wherein the sorting manipulator comprises the following steps: ground rail and the movable plate of cooperation connection on the ground rail, the movable plate top is provided with the base, the base top is provided with the fixed arm, the fixed arm top is provided with the roating seat, the roating seat is connected with the articulated arm through the articulated elements cooperation, the articulated arm top is provided with rotary mechanism, the cooperation of articulated arm top is connected with the subassembly of snatching, it includes first horizontal pole and the second horizontal pole of cross arrangement to snatch the subassembly, first horizontal pole both ends all are provided with first the mechanism of snatching, second horizontal pole both ends all are provided with the second and snatch the mechanism, cooperation makes first horizontal pole and second horizontal pole can reach the wholerotation through between rotary mechanism and the connecting axle, also can rotate alone, thereby the adjustment difference snatchs the article letter sorting in the mechanism and to corresponding region, also can realize carrying out accurate pile up neatly to letter sorting article through the rotation alone, control accuracy is higher.
Description
Technical Field
The invention relates to the fields of industry, logistics and sorting manipulators, in particular to a sorting manipulator based on an adaptive cruise technology and a control method thereof.
Background
The sorting pipeline robot detects, extracts, identifies and tracks a moving target in an image sequence through visual tracking and obtains a moving track of the target, so that the target behavior is understood through further processing and analysis, and higher-level tasks are completed. In the sorting system, designed targets continuously enter the visual field of a camera, the system identifies, detects and records results of each target, in the running process of the manipulator, a distance sensor (radar) arranged at the front part of the manipulator continuously scans the road in front of the manipulator, meanwhile, a speed sensor collects movement speed signals of the manipulator, when the distance between the manipulator and the previous manipulator or a preset placing area is too small, a control unit can coordinate to act through the control system to enable the manipulator to brake properly and reduce the output power of an engine so as to enable the manipulator to slowly reach the preset area, and machine vision is a branch of artificial intelligence which is developing rapidly. In brief, machine vision is to use a machine to replace human eyes for measurement and judgment. The machine vision system converts the object to be shot into image signal by machine vision product (image shooting device, which is divided into CMOS and CCD), and transmits to special image processing system to obtain the form information of the object to be shot, according to the information of pixel distribution, brightness and color, etc., converting the pixel distribution into a digital signal; the imaging system performs various operations on these signals to extract features of the object, and then control on-the-spot equipment action according to the result of judging, the letter sorting work is an unlimited number of repetition and extremely boring work, along with the improvement of science and technology and improvement of production level, traditional manual sorting has been can't satisfy current production speed yet, at present, generally adopt the method of manual sorting to the letter sorting of industrial product in the market, the manual work is through judging the quality of industrial product to industrial product surface defect and size, shape, realize hierarchical letter sorting. However, the sorting mode is difficult to avoid the limitation of artificial subjective evaluation, the labor cost is high, the sorting precision and efficiency are limited, the requirements of modern enterprise production cannot be met, the method cannot keep pace with the development of the times, especially under the conditions of high operation frequency and large workpiece single weight, the manual sorting speed and accuracy lag behind the modern machinery far away, in the sorting process through the mechanical arm, the self-adaptive cruise control is difficult to be carried out on the movement process of the mechanical arm, the efficiency of sorting articles is easily influenced in the movement process of the mechanical arm, and in addition, some mechanical sorting equipment in the market has the following problems: only single industrial product can be sorted, the sorting precision is not high, and the sorting efficiency is low.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a sorting manipulator based on an adaptive cruise technology and a control method thereof.
In order to achieve the purpose, the invention adopts the technical scheme that: a sorting manipulator based on adaptive cruise technology, comprising: a ground rail and a movable plate which is connected with the ground rail in a matching way,
the top of the movable plate is provided with a base, the top of the base is provided with a fixed arm, the top of the fixed arm is provided with a rotating seat, the rotating seat is connected with a hinged arm in a matching way through a hinged piece, the top of the hinged arm is provided with a rotating mechanism, the top of the rotating mechanism is provided with a connecting shaft, the connecting shaft penetrates through a first transverse rod and a second transverse rod, and the first transverse rod and the second transverse rod can rotate independently through the connecting shaft;
the top of the hinged arm is connected with a grabbing assembly in a matching mode, the grabbing assembly comprises a first cross rod and a second cross rod which are arranged in a crossed mode, first grabbing mechanisms are arranged at two ends of the first cross rod, second grabbing mechanisms are arranged at two ends of the second cross rod, the grabbing assembly can rotate, a first clamping jaw is arranged on the first grabbing mechanism, and a second clamping jaw is arranged on the second grabbing mechanism;
the movable plate can move along the ground rail, and a speed detector is arranged on the movable plate and used for monitoring the moving state information of the movable plate.
In a preferred embodiment of the invention, an initial position detector is arranged at the end part of the ground rail, the initial position detector can monitor the position information of the manipulator in an initial state, a plurality of foot pads are arranged at the bottom of the ground rail at intervals, and the foot pads are fixed through bolts.
In a preferred embodiment of the invention, a guide rod is arranged at the top of the ground rail, a clamping block is arranged at the bottom of the movable plate, a clamping groove is arranged on one side of the clamping block, the guide rod is embedded into the clamping groove, and the clamping block can slide along the guide rod.
In a preferred embodiment of the present invention, the ground rail comprises a straight ground rail, a cross ground rail or a field ground rail, and at least one manipulator is disposed on the ground rail.
In a preferred embodiment of the present invention, a first telescopic rod is disposed at one end of the first grabbing mechanism, a first fixing plate is disposed at an end of the first telescopic rod, a sliding slot is disposed at one side of the first fixing plate, a sliding block is fittingly connected to an inner side of the sliding slot, the sliding block can move along the sliding slot, two protruding blocks are symmetrically disposed at an end of the sliding block, first claws are fixedly connected to outer sides of the two protruding blocks, the two first claws can move relative to each other, and bending members are disposed at end portions of the two first claws.
In a preferred embodiment of the present invention, a second telescopic rod is disposed at one end of the second grabbing mechanism, a second fixing plate is disposed at an end of the second telescopic rod, a sliding slot is disposed at one side of the second fixing plate, and a sliding block is cooperatively connected to an inner side of the sliding slot and can move along the sliding slot.
In a preferred embodiment of the invention, two convex blocks are symmetrically arranged at the end part of the sliding block, second clamping jaws are fixedly connected to the outer sides of the two convex blocks, the two second clamping jaws can move relatively, and bending pieces are arranged at the end parts of the two second clamping jaws.
In order to achieve the purpose, the invention adopts another technical scheme as follows: a control method is applied to a sorting manipulator based on an adaptive cruise technology, and is characterized by comprising the following steps:
acquiring the space information of a target area, building a ground track according to the space information, building a space coordinate system according to the shape of the ground track,
acquiring initial coordinate information of a manipulator to obtain initial position information of the manipulator;
acquiring position information of an article to be sorted in a target area, and establishing manipulator route information according to the position information of the article to be sorted;
acquiring the position information of a manipulator in real time, comparing the position information of the manipulator with the position information of an article to be sorted, and judging the distance between the manipulator and the article to be sorted;
comparing the distance between the manipulator and the object to be sorted with a preset distance to obtain a distance difference value;
judging whether the distance difference value is greater than the first distance and smaller than the second distance, if so, generating a first moving mode, and moving the manipulator according to the first moving mode;
and judging whether the distance difference is larger than the second distance, if so, generating a second moving mode, and moving the manipulator according to the second moving mode.
In a preferred embodiment of the present invention, the first moving manner is that the robot moves in a uniform acceleration manner, and the second moving manner is that the robot moves in a uniform deceleration manner.
In a preferred embodiment of the present invention, the method further comprises: acquiring initial position information of the manipulator, acquiring position information of articles to be sorted in a target area,
generating a plurality of pieces of route information according to the ground track shape, screening optimal route information, and moving the manipulator according to the optimal route;
acquiring real-time position information of the manipulator, and comparing the real-time position information of the manipulator with preset position information to obtain a deviation rate;
judging whether the deviation rate is larger than a preset deviation rate threshold value or not,
and if so, generating correction information, and adjusting the optimal route in real time according to the correction information.
The invention solves the defects in the background technology, and has the following beneficial effects:
(1) through the cooperation between rotary mechanism and the connecting axle make first horizontal pole and second horizontal pole can enough the integral rotation, also can rotate alone to adjust the different article letter sorts that snatch on the mechanism and to corresponding the region, also can realize carrying out accurate pile up neatly to letter sort article through rotating alone, control accuracy is higher.
(2) According to the regional structure of target different, build the ground rail of different shapes, set up a plurality of manipulators simultaneous workings on the ground rail, improve work efficiency, in addition the manipulator removes the distance of in-process real-time supervision manipulator apart from letter sorting article, carry out real-time adjustment manipulator translation rate according to the distance difference, when a plurality of manipulators simultaneous workings on the ground rail, the manipulator removes the in-process and can also pass through translation rate and the distance between the different manipulators of speed detector and displacement sensor cooperation monitoring, and then the translation rate or the adjustment manipulator moving route of real-time adjustment manipulator, prevent that different manipulators from colliding, improve letter sorting manipulator safety in utilization.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 shows a schematic perspective view of a sorting robot of the present invention;
FIG. 2 is a schematic view of another angle of the sorting robot in accordance with the preferred embodiment of the present invention;
FIG. 3 shows a partially enlarged schematic view of a preferred embodiment of the present invention;
FIG. 4 is a schematic view of the arrangement of the first and second gripping mechanisms in accordance with the preferred embodiment of the present invention;
FIG. 5 is a schematic diagram of a second grasping mechanism according to the preferred embodiment of the present invention;
FIG. 6 is a flow chart of a sorting manipulator control method based on an adaptive cruise technology according to a preferred embodiment of the invention;
FIG. 7 is a flowchart of a robot movement path adjustment method according to a preferred embodiment of the present invention;
in the figure: 1. initial position detector, 2, pad foot, 3, moving plate, 301, clamping block, 4, fixed arm, 401, rotating base, 5, base, 6, speed detector, 7, ground rail, 701, guide bar, 8, moving motor, 9, hinge, 901, pneumatic valve, 10, first grabbing mechanism, 1001, first telescopic rod, 1002, first fixed plate, 1003, first jaw, 11, first cross bar, 12, rotating mechanism, 13, second grabbing mechanism, 1301, second telescopic rod, 1302, second fixed plate, 1303, second jaw, 1304, limit piece, 1305, sliding chute, 1306, slider, 1307, lug, 1308, bending piece, 14, second cross bar, 15, connecting shaft, 16, reducer, 17, rotating motor, 18, hinged arm, 19, cable sleeve, 20, displacement sensor, 21, pneumatic tube.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
Fig. 1 shows a schematic perspective view of a sorting robot according to the present invention.
As shown in fig. 1 to 3, a first aspect of the present invention provides a sorting manipulator based on an adaptive cruise technology, including: a ground rail 7 and a moving plate 3 which is connected on the ground rail 7 in a matching way,
the top of the moving plate 3 is provided with a base 5, the top of the base 5 is provided with a fixed arm 4, the top of the fixed arm 4 is provided with a rotating seat 401, the rotating seat 401 is connected with a hinged arm 18 through a hinged piece 9 in a matching manner, the top of the hinged arm 18 is provided with a rotating mechanism 12, the top of the rotating mechanism 12 is provided with a connecting shaft 15, the connecting shaft 15 penetrates through a first cross rod 11 and a second cross rod 14, and the first cross rod 11 and the second cross rod 14 can rotate independently through the connecting shaft 15.
As shown in fig. 4, the present invention discloses a schematic distribution diagram of the first and second gripping mechanisms.
The top of the hinged arm 18 is connected with a grabbing assembly in a matching mode, the grabbing assembly comprises a first cross bar 11 and a second cross bar 14 which are arranged in a crossed mode, two ends of the first cross bar 11 are provided with first grabbing mechanisms 10, two ends of the second cross bar 14 are provided with second grabbing mechanisms 13, the grabbing assembly can rotate, a first clamping jaw 1003 is arranged on the first grabbing mechanism 10, and a second clamping jaw 1303 is arranged on the second grabbing mechanism 13;
the moving plate 3 can move along the ground rail 7, the moving plate 3 is provided with a speed detector 6, and the speed detector 6 is used for monitoring the moving state information of the moving plate 3.
It should be noted that, according to the different structures of the target areas, the ground rails 7 with different shapes are built, the ground rails 7 are provided with a plurality of manipulators to work simultaneously, so that the working efficiency is improved, in addition, the distance between the manipulator and the sorted articles is monitored in real time in the moving process of the manipulator, the moving speed of the manipulator is adjusted in real time according to the different distances, when the manipulators on the ground rails 7 work simultaneously, the moving speed and the distance between different manipulators can be monitored by matching the speed detector 6 and the displacement sensor 20 in the moving process of the manipulator, so that the moving speed of the manipulator or the moving route of the manipulator is adjusted in real time, collision among different manipulators is prevented, the use safety of the sorting manipulator is improved, the moving plate 3 is provided with the moving motor 8, the moving speed of the moving plate 3 along the ground rails 7 is controlled by the moving motor 8, the invention applies the machine vision technology to the quality detection of industrial products, this has great advantages over manual detection. The invention is provided with a plurality of visual detection devices to realize the step-by-step sorting detection, the visual detection devices are arranged on the first grabbing mechanism 10 and the second grabbing mechanism 13 and control different grabbing mechanisms to grab products with different qualities according to the detection result of the visual detection devices, the invention can also sort and classify the products with different qualities by rotating the first cross rod 11 or the second cross rod 14, the sorting precision is higher, one side of the rotating mechanism 12 is provided with a rotating motor 17, and the rotating motor 17 controls the rotating mechanism 12 to rotate, be provided with reduction gear 16 between rotating electrical machines 17 and the rotary mechanism 12, improve the moment of torsion of letter sorting manipulator through reduction gear 16, can be used for the letter sorting of heavier article to snatch, first snatch mechanism 10 and second and snatch and all be provided with locating part 1304 on the mechanism 13, control first telescopic link 1001 and second telescopic link 1301 to be located the safe within range through locating part 1304 and carry out the concertina movement.
According to the embodiment of the invention, the initial position detector 1 is arranged at the end part of the ground rail 7, the initial position detector 1 can monitor the position information of the manipulator in an initial state, a plurality of foot pads 2 are arranged at the bottom of the ground rail 7 at intervals, and the foot pads 2 are fixed through bolts.
It should be noted that, the base 2 is the U type structure, and ground rail 7 embedding U type structure is inboard, and through welded fastening between ground rail 7 and the base 2, 2 both sides of base all are provided with the bolt hole in addition, can fix the base 2 subaerial through the bolt, and ground rail 7 is laid subaerial back, and the top place plane and the ground parallel and level of ground rail 7 can not make operating personnel trip, improve the safety in utilization.
According to the embodiment of the invention, the guide rod 701 is arranged at the top of the ground rail 7, the fixture block 301 is arranged at the bottom of the moving plate 3, the clamping groove is arranged at one side of the fixture block 301, the guide rod 701 is embedded into the clamping groove, and the fixture block 301 can slide along the guide rod 701.
It should be noted that, a gap is provided at the inner side of the ground rail 7, a cable sleeve 19 can be placed in the gap, the cable sleeve 19 is located at one side of the moving plate 3, the cable sleeve 19 moves along with the moving plate 3 in the moving process, the cable sleeve 19 carries out wire arrangement, the occurrence rate of short circuit is reduced, the top of the fixed arm 4 is provided with a rotating seat 401, the top of the rotating seat 401 is provided with a hinge 9, the hinge arm 18 is connected to the fixed arm 4 by means of a hinge 9, the hinge arm 18 and the rotary base 401 rotate in different planes, so that the operable space of the sorting manipulator is larger, one side of the hinge 9 is provided with a pneumatic valve 901, the pneumatic valve 901 is connected with a pneumatic pipe 21, the pneumatic valve 901 controls the first grabbing mechanism 10 and the second grabbing mechanism 13 to stretch and grab, and the pneumatic valve 901 can control grabbing pressure, namely grabbing force, so that products cannot be extruded when grabbing is guaranteed.
According to the embodiment of the invention, the ground rail 7 comprises a straight ground rail, a cross ground rail, a groined ground rail or a field-shaped ground rail, and at least one manipulator is arranged on the ground rail 7.
According to the embodiment of the invention, one end of the first grabbing mechanism 10 is provided with a first telescopic rod 1001, the end of the first telescopic rod 1001 is provided with a first fixing plate 1002, one side of the first fixing plate 1002 is provided with a sliding chute 1305, the inner side of the sliding chute 1305 is connected with a sliding block 1306 in a matching manner, the sliding block 1306 can move along the sliding chute 1305, the end of the sliding block 1306 is symmetrically provided with two protrusions 1307, the outer sides of the two protrusions 1307 are fixedly connected with first claws 1003, the two first claws 1003 can move relatively, and the ends of the two first claws 1003 are both provided with bending pieces 1308.
As shown in fig. 5, the present invention discloses a schematic structural diagram of the second grasping mechanism.
According to the embodiment of the present invention, one end of the second grasping mechanism 13 is provided with a second telescopic rod 1301, the end of the second telescopic rod 1301 is provided with a second fixing plate 1302, one side of the second fixing plate 1302 is provided with a sliding chute 1305, the inner side of the sliding chute 1305 is connected with a sliding block 1306 in a matching manner, and the sliding block 1306 can move along the sliding chute 1305.
According to the embodiment of the invention, two protrusions 1307 are symmetrically arranged at the end part of the sliding block 1306, second claws 1303 are fixedly connected to the outer sides of the two protrusions 1307, the two second claws 1303 can move relatively, and bending pieces 1308 are arranged at the end parts of the two second claws 1303.
As shown in fig. 6, the invention discloses a flow chart of a sorting manipulator control method based on an adaptive cruise technology.
In order to achieve the purpose, the invention adopts another technical scheme as follows: a control method is applied to a sorting manipulator based on an adaptive cruise technology, and is characterized by comprising the following steps:
s602, acquiring the space information of the target area, building a ground track according to the space information, building a space coordinate system according to the shape of the ground track,
s604, acquiring initial coordinate information of the manipulator to obtain initial position information of the manipulator;
s606, collecting the position information of the articles to be sorted in the target area, and establishing manipulator route information according to the position information of the articles to be sorted;
s608, collecting the position information of the manipulator in real time, comparing the position information of the manipulator with the position information of the articles to be sorted, and judging the distance between the manipulator and the articles to be sorted;
s610, comparing the distance between the manipulator and the article to be sorted with a preset distance to obtain a distance difference;
s612, judging whether the distance difference is larger than the first distance and smaller than the second distance, if so, generating a first moving mode, and moving the manipulator according to the first moving mode;
and S614, judging whether the distance difference is larger than the second distance, if so, generating a second moving mode, and moving the manipulator according to the second moving mode.
According to the embodiment of the invention, the first moving mode is that the manipulator moves in a uniform acceleration mode, and the second moving mode is that the manipulator moves in a uniform deceleration mode.
It should be noted that, according to the different structures of the target areas, the ground rails 7 with different shapes are built, the ground rails 7 are provided with a plurality of manipulators to work simultaneously, so that the working efficiency is improved, in addition, the distance between the manipulator and the sorted articles is monitored in real time in the moving process of the manipulator, the moving speed of the manipulator is adjusted in real time according to the different distances, when the manipulators on the ground rails 7 work simultaneously, the moving speed and the distance between different manipulators can be monitored by matching the speed detector 6 and the displacement sensor 20 in the moving process of the manipulator, so that the moving speed of the manipulator or the moving route of the manipulator is adjusted in real time, the collision of different manipulators is prevented, the use safety of the sorting manipulator is improved, the grabbing assembly comprises a first cross rod 11 and a second cross rod 14, the first grabbing mechanisms 10 are arranged at two ends of the first cross rod 11, the two ends of the second cross rod 14 are provided with second grabbing mechanisms 13, the grabbing components can rotate, a first claw 1003 is arranged on the first grabbing mechanism 10, a second claw 1303 is arranged on the second grabbing mechanism 13, a first telescopic rod 1001 is arranged at one end of the first grabbing mechanism 10, a first fixing plate 1002 is arranged at the end of the first telescopic rod 1001, a sliding groove 1305 is arranged on one side of the first fixing plate 1002, the inner side of the sliding groove 1305 is connected with a sliding block 1306 in a matched mode, the sliding block 1306 can move along the sliding groove 1305, two convex blocks 1307 are symmetrically arranged at the end of the sliding block 1306, first claws 1003 are fixedly connected to the outer sides of the two convex blocks 1307, the two first claws 1003 can move relatively, and bending pieces 1308 are arranged at the end parts of the two first claws 1003.
According to the embodiment of the present invention, one end of the second grasping mechanism 13 is provided with a second telescopic rod 1301, the end of the second telescopic rod 1301 is provided with a second fixing plate 1302, one side of the second fixing plate 1302 is provided with a sliding chute 1305, the inner side of the sliding chute 1305 is connected with a sliding block 1306 in a matching manner, and the sliding block 1306 can move along the sliding chute 1305.
As shown in fig. 7, the present invention discloses a flow chart of a method for adjusting a moving path of a manipulator.
According to the embodiment of the invention, the method further comprises the following steps: s702, acquiring initial position information of the manipulator, acquiring position information of articles to be sorted in a target area,
s704, generating a plurality of pieces of route information according to the ground track shape, screening optimal route information, and moving the manipulator according to the optimal route;
s706, collecting real-time position information of the manipulator, and comparing the real-time position information of the manipulator with preset position information to obtain a deviation rate;
s708, judging whether the deviation rate is larger than a preset deviation rate threshold value,
and S710, if the route is larger than the preset route, generating correction information, and adjusting the optimal route in real time according to the correction information.
It should be noted that, when the industrial robot is positioned and operated, one or more of mechanical tracking positioning, electromagnetic tracking positioning, ultrasonic tracking positioning, optical tracking positioning, inertial device tracking positioning, gyroscope tracking positioning, and tracking positioning are adopted.
Through the cooperation between rotary mechanism 12 and the connecting axle 15 make first horizontal pole 11 and second horizontal pole 14 can enough the integral rotation, also can rotate alone to adjust the difference and snatch the article letter sorting in the mechanism and to corresponding the region, also can realize carrying out accurate pile up neatly to letter sorting article through rotating alone, control accuracy is higher.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of a unit is only one logical function division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A sorting manipulator based on adaptive cruise technology, comprising: ground rail and cooperation are connected the movable plate on the ground rail, its characterized in that: the top of the movable plate is provided with a base, the top of the base is provided with a fixed arm, the top of the fixed arm is provided with a rotating seat, the rotating seat is connected with a hinged arm in a matching way through a hinged piece, the top of the hinged arm is provided with a rotating mechanism, the top of the rotating mechanism is provided with a connecting shaft, the connecting shaft penetrates through a first transverse rod and a second transverse rod, and the first transverse rod and the second transverse rod can rotate independently through the connecting shaft;
the top of the hinged arm is connected with a grabbing assembly in a matching mode, the grabbing assembly comprises a first cross rod and a second cross rod which are arranged in a crossed mode, first grabbing mechanisms are arranged at two ends of the first cross rod, second grabbing mechanisms are arranged at two ends of the second cross rod, the grabbing assembly can rotate, a first clamping jaw is arranged on the first grabbing mechanism, and a second clamping jaw is arranged on the second grabbing mechanism;
the movable plate can move along the ground rail, and a speed detector is arranged on the movable plate and used for monitoring the moving state information of the movable plate.
2. The sorting manipulator based on the adaptive cruise technology as claimed in claim 1, wherein an initial position detector is arranged at the end of the ground rail, the initial position detector can monitor the position information of the manipulator in an initial state, a plurality of foot pads are arranged at the bottom of the ground rail at intervals, and the foot pads are fixed through bolts.
3. The sorting manipulator based on the adaptive cruise technology as claimed in claim 1, wherein a guide rod is arranged at the top of the ground rail, a clamping block is arranged at the bottom of the moving plate, a clamping groove is arranged on one side of the clamping block, the guide rod is embedded into the clamping groove, and the clamping block can slide along the guide rod.
4. The adaptive cruise technology-based sorting manipulator according to claim 1, wherein the ground rail comprises a straight ground rail, a cross ground rail, a # -shaped ground rail or a # -shaped ground rail, and at least one manipulator is arranged on the ground rail.
5. The sorting manipulator based on the adaptive cruise technology as claimed in claim 1, wherein a first telescopic rod is arranged at one end of the first grabbing mechanism, a first fixing plate is arranged at the end of the first telescopic rod, a sliding groove is arranged on one side of the first fixing plate, a sliding block is connected to the inner side of the sliding groove in a matching manner, the sliding block can move along the sliding groove, two convex blocks are symmetrically arranged at the end of the sliding block, a first clamping jaw is fixedly connected to the outer sides of the two convex blocks, the two first clamping jaws can move relatively, and a bending piece is arranged at each of the two end portions of the first clamping jaw.
6. The sorting manipulator based on the adaptive cruise technology as claimed in claim 5, wherein a second telescopic rod is arranged at one end of the second grabbing mechanism, a second fixing plate is arranged at the end of the second telescopic rod, a sliding groove is arranged on one side of the second fixing plate, a sliding block is connected to the inner side of the sliding groove in a matched manner, and the sliding block can move along the sliding groove.
7. The adaptive cruise technology-based sorting manipulator according to claim 6, wherein two protrusions are symmetrically arranged at the end of the sliding block, a second jaw is fixedly connected to the outer side of each protrusion, the two second jaws can move relatively, and a bending piece is arranged at the end of each second jaw.
8. A control method applied to a sorting manipulator based on the adaptive cruise technology as claimed in any one of claims 1-7, characterized by comprising the following steps:
acquiring space information of a target area, building a ground rail according to the space information, and building a space coordinate system according to the shape of the ground rail;
acquiring initial coordinate information of a manipulator to obtain initial position information of the manipulator;
acquiring position information of an article to be sorted in a target area, and establishing manipulator route information according to the position information of the article to be sorted;
acquiring the position information of a manipulator in real time, comparing the position information of the manipulator with the position information of an article to be sorted, and judging the distance between the manipulator and the article to be sorted;
comparing the distance between the manipulator and the object to be sorted with a preset distance to obtain a distance difference value;
judging whether the distance difference value is greater than the first distance and smaller than the second distance, if so, generating a first moving mode, and moving the manipulator according to the first moving mode;
and judging whether the distance difference is larger than the second distance, if so, generating a second moving mode, and moving the manipulator according to the second moving mode.
9. A control method according to claim 8, wherein the first movement mode is a robot movement in a uniform acceleration mode, and the second movement mode is a robot movement in a uniform deceleration mode.
10. A control method according to claim 8, further comprising: acquiring initial position information of a manipulator, and acquiring position information of an article to be sorted in a target area;
generating a plurality of pieces of route information according to the ground track shape, screening optimal route information, and moving the manipulator according to the optimal route;
acquiring real-time position information of the manipulator, and comparing the real-time position information of the manipulator with preset position information to obtain a deviation rate;
judging whether the deviation rate is greater than a preset deviation rate threshold value or not;
and if so, generating correction information, and adjusting the optimal route in real time according to the correction information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110715732.9A CN113246096B (en) | 2021-06-28 | 2021-06-28 | Sorting manipulator based on adaptive cruise technology and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110715732.9A CN113246096B (en) | 2021-06-28 | 2021-06-28 | Sorting manipulator based on adaptive cruise technology and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113246096A true CN113246096A (en) | 2021-08-13 |
| CN113246096B CN113246096B (en) | 2021-09-24 |
Family
ID=77189917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110715732.9A Active CN113246096B (en) | 2021-06-28 | 2021-06-28 | Sorting manipulator based on adaptive cruise technology and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113246096B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113924861A (en) * | 2021-11-05 | 2022-01-14 | 广东省农业科学院蔬菜研究所 | Automatic harvesting system for greenhouse vegetable cultivation |
| CN114472212A (en) * | 2022-01-18 | 2022-05-13 | 宜兴王子制陶有限公司 | GPF (general purpose filter) backpressure automatic detection equipment and working method thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433926A (en) * | 2013-08-08 | 2013-12-11 | 中国船舶重工集团公司第七一六研究所 | Multi-robot coordination control device and method |
| CN207155777U (en) * | 2017-07-14 | 2018-03-30 | 深圳市萨博机器人工具技术有限公司 | A kind of track robot |
| CN110497378A (en) * | 2019-09-04 | 2019-11-26 | 上海海事大学 | A kind of automatic loading and unloading robot for part processing |
| CN110653826A (en) * | 2019-10-23 | 2020-01-07 | 苏州艾利特机器人有限公司 | Real-time robot trajectory planning method oriented to conveyor belt target following |
| CN110919993A (en) * | 2019-12-06 | 2020-03-27 | 深圳市山龙智控有限公司 | Injection molding machine manipulator control method and control device |
| US20200164502A1 (en) * | 2017-06-09 | 2020-05-28 | Hangzhou Yameilijia Technology Co., Ltd | Guiderail for Underslung Robot, Underslung Robot and Operating System thereof |
| CN212123296U (en) * | 2020-03-17 | 2020-12-11 | 南京理工军邦特种智能装备研究院有限公司 | Multi-station switching intelligent debugging grabbing device for production line |
| CN112798002A (en) * | 2020-12-29 | 2021-05-14 | 佛山市金净创环保技术有限公司 | Intelligent vehicle autonomous path planning method and system and readable storage medium |
-
2021
- 2021-06-28 CN CN202110715732.9A patent/CN113246096B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433926A (en) * | 2013-08-08 | 2013-12-11 | 中国船舶重工集团公司第七一六研究所 | Multi-robot coordination control device and method |
| US20200164502A1 (en) * | 2017-06-09 | 2020-05-28 | Hangzhou Yameilijia Technology Co., Ltd | Guiderail for Underslung Robot, Underslung Robot and Operating System thereof |
| CN207155777U (en) * | 2017-07-14 | 2018-03-30 | 深圳市萨博机器人工具技术有限公司 | A kind of track robot |
| CN110497378A (en) * | 2019-09-04 | 2019-11-26 | 上海海事大学 | A kind of automatic loading and unloading robot for part processing |
| CN110653826A (en) * | 2019-10-23 | 2020-01-07 | 苏州艾利特机器人有限公司 | Real-time robot trajectory planning method oriented to conveyor belt target following |
| CN110919993A (en) * | 2019-12-06 | 2020-03-27 | 深圳市山龙智控有限公司 | Injection molding machine manipulator control method and control device |
| CN212123296U (en) * | 2020-03-17 | 2020-12-11 | 南京理工军邦特种智能装备研究院有限公司 | Multi-station switching intelligent debugging grabbing device for production line |
| CN112798002A (en) * | 2020-12-29 | 2021-05-14 | 佛山市金净创环保技术有限公司 | Intelligent vehicle autonomous path planning method and system and readable storage medium |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113924861A (en) * | 2021-11-05 | 2022-01-14 | 广东省农业科学院蔬菜研究所 | Automatic harvesting system for greenhouse vegetable cultivation |
| CN114472212A (en) * | 2022-01-18 | 2022-05-13 | 宜兴王子制陶有限公司 | GPF (general purpose filter) backpressure automatic detection equipment and working method thereof |
| CN114472212B (en) * | 2022-01-18 | 2024-04-19 | 宜兴王子制陶有限公司 | GPF backpressure automatic detection equipment and working method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113246096B (en) | 2021-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113246096B (en) | Sorting manipulator based on adaptive cruise technology and control method thereof | |
| Lili et al. | Development of a tomato harvesting robot used in greenhouse | |
| CN112418103B (en) | Bridge crane hoisting safety anti-collision system and method based on dynamic binocular vision | |
| CN107186752A (en) | A kind of compensation of undulation fishing robot system | |
| EP1586805B1 (en) | Method for monitoring a surveillance area | |
| CN106426186A (en) | Electrified operation robot autonomous operation method based on multi-sensor information fusion | |
| CN107765145B (en) | Automatic partial discharge detection device, system and method | |
| CN111634636B (en) | Full-automatic material taking control system of bucket wheel machine | |
| CN108789416B (en) | System and method for controlling flexible live working of double mechanical arms | |
| Krüger et al. | Image based 3D surveillance for flexible man-robot-cooperation | |
| CN109702290B (en) | Steel plate groove cutting method based on visual identification | |
| CN107389686B (en) | Detection robot system for locomotive bottom and detection method thereof | |
| CN107152295B (en) | A kind of shield pipe sheet assembling machine automatically grabs method and system with vision platform | |
| EP2940422A1 (en) | Detection apparatus, detection method and manipulator | |
| EP1503874A2 (en) | Production device, especially a bending press, and method for operating said production device | |
| CN110666150A (en) | Metal ingot casting slag skimming system and method | |
| CN112101130B (en) | Rivet forming quality detection and judgment system and method based on visual recognition technology | |
| CN112141734A (en) | Material taking control system and material taking method for scraper reclaimer | |
| CN112082770A (en) | Rail vehicle body detection system and method based on artificial intelligence technology | |
| CN112223273A (en) | Industrial robot visual detection and obstacle avoidance system | |
| CN112379605B (en) | Bridge crane semi-physical simulation control experiment system and method based on visual servo | |
| Yang et al. | Visual servoing control of baxter robot arms with obstacle avoidance using kinematic redundancy | |
| CN114529811A (en) | Rapid and automatic identification and positioning method for foreign matters in subway tunnel | |
| CN109129480A (en) | A kind of mechanical arm system of processing based on binocular 3D positioning | |
| CN113305808A (en) | Positioning clamping detection device and method based on stereoscopic vision recognition sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |